136 lines
4.7 KiB
C++
136 lines
4.7 KiB
C++
// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#include "foundation/PxUtilities.h"
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#include "GuConvexHelper.h"
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#include "GuInternal.h"
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#include "GuConvexMesh.h"
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using namespace physx;
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using namespace Gu;
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// PT: we can't call alloca in a function and we want to avoid defines or duplicating the code. This makes it a bit tricky to write.
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void Gu::getScaledConvex( PxVec3*& scaledVertices, PxU8*& scaledIndices, PxVec3* dstVertices, PxU8* dstIndices,
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bool idtConvexScale, const PxVec3* srcVerts, const PxU8* srcIndices, PxU32 nbVerts, const Cm::FastVertex2ShapeScaling& convexScaling)
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{
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//pretransform convex polygon if we have scaling!
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if(idtConvexScale) // PT: the scale is always 1 for boxes so no need to test the type
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{
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scaledVertices = const_cast<PxVec3*>(srcVerts);
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scaledIndices = const_cast<PxU8*>(srcIndices);
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}
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else
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{
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scaledIndices = dstIndices;
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scaledVertices = dstVertices;
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for(PxU32 i=0; i<nbVerts; i++)
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{
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scaledIndices[i] = PxTo8(i); //generate trivial indexing.
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scaledVertices[i] = convexScaling * srcVerts[srcIndices[i]];
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}
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}
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}
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bool Gu::getConvexData(const PxConvexMeshGeometry& shapeConvex, Cm::FastVertex2ShapeScaling& scaling, PxBounds3& bounds, PolygonalData& polyData)
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{
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const bool idtScale = shapeConvex.scale.isIdentity();
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if(!idtScale)
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scaling.init(shapeConvex.scale);
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// PT: this version removes all the FCMPs and almost all LHS. This is temporary until
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// the legacy 3x3 matrix totally vanishes but meanwhile do NOT do useless matrix conversions,
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// it's a perfect recipe for LHS.
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const ConvexHullData* hullData = _getHullData(shapeConvex);
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PX_ASSERT(!hullData->mAABB.isEmpty());
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bounds = hullData->mAABB.transformFast(scaling.getVertex2ShapeSkew());
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getPolygonalData_Convex(&polyData, hullData, scaling);
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// PT: non-uniform scaling invalidates the "internal objects" optimization, since our internal sphere
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// might become an ellipsoid or something. Just disable the optimization if scaling is used...
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if(!idtScale)
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polyData.mInternal.reset();
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return idtScale;
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}
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PxU32 Gu::findUniqueConvexEdges(PxU32 maxNbEdges, ConvexEdge* PX_RESTRICT edges, PxU32 numPolygons, const Gu::HullPolygonData* PX_RESTRICT polygons, const PxU8* PX_RESTRICT vertexData)
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{
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PxU32 nbEdges = 0;
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while(numPolygons--)
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{
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const HullPolygonData& polygon = *polygons++;
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const PxU8* vRefBase = vertexData + polygon.mVRef8;
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PxU32 numEdges = polygon.mNbVerts;
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PxU32 a = numEdges - 1;
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PxU32 b = 0;
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while(numEdges--)
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{
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PxU8 vi0 = vRefBase[a];
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PxU8 vi1 = vRefBase[b];
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if(vi1 < vi0)
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{
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PxU8 tmp = vi0;
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vi0 = vi1;
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vi1 = tmp;
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}
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bool found=false;
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for(PxU32 i=0;i<nbEdges;i++)
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{
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if(edges[i].vref0==vi0 && edges[i].vref1==vi1)
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{
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found = true;
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edges[i].normal += polygon.mPlane.n;
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break;
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}
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}
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if(!found)
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{
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if(nbEdges==maxNbEdges)
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{
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PX_ALWAYS_ASSERT_MESSAGE("Internal error: max nb edges reached. This shouldn't be possible...");
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return nbEdges;
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}
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edges[nbEdges].vref0 = vi0;
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edges[nbEdges].vref1 = vi1;
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edges[nbEdges].normal = polygon.mPlane.n;
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nbEdges++;
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}
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a = b;
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b++;
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}
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}
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return nbEdges;
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}
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